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Legal separation

I am seeking for legal advice, i am already separated to my Husband 6 years now. Currently im in a relationship with another guy and so is my (H) we have also proof that she is in a relationship with another woman. I just want to know how can we possible end our marriage and break the contract since we already have our own lives. I just want to have legal rights to our kids (8 yrs old and 5 yrs old) or just good standing between us that we only have out responsibility towards our kids only. (H) always threatens me on having a relationship towards another guy, stating he will do trouble. Can you there be any case we can file for we will not have any rights between us and only for the siblings?